java.lang.Object
- org.djutils.draw.point.Point3d
- - org.djutils.draw.point.OrientedPoint3d

All Implemented Interfaces:

Serializable, Drawable<Point3d>, Drawable3d, Oriented<OrientedPoint3d>, Oriented3d<OrientedPoint3d>, Point<Point3d>
```
public class OrientedPoint3d
extends Point3d
implements Oriented3d<OrientedPoint3d>
```
A OrientedPoint3d is an immutable point with an x, y, and z coordinate, stored with double precision plus a 3d orientation. The orientation is specified by the rotations around the x, y, and z-axis. A number of constructors and methods are provided for cases where only the rotation around the z-axis is of importance. Orientation in 3D is stored as three double values dirX,dirY,dirZ. This class does not prescribe a particular order in which these rotations are to be applied. (Applying rotations is not commutative, so this is important.)
Copyright (c) 2020-2023 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See DJUTILS License.

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field	Description
`double`	`dirX`	The direction as rotation around the x-axis.
`double`	`dirY`	The direction as rotation around the y-axis.
`double`	`dirZ`	The direction as rotation around the z-axis.

Fields inherited from class org.djutils.draw.point.Point3d
x, y, z

Constructor Summary

Constructors
Constructor	Description
`OrientedPoint3d(double[] xyz)`	Create a new OrientedPoint3d with x, y, and z coordinates and direction 0,0,0.
`OrientedPoint3d(double[] xyz, double[] orientation)`	Create a new OrientedPoint3d with x, y, and z coordinates packed in a double array and orientation specified using a double array of three elements (containing dirX,dirY,dirZ in that order).
`OrientedPoint3d(double[] xyz, double dirX, double dirY, double dirZ)`	Create a new OrientedPoint3d with x, y, and z coordinates, stored with double precision, and orientation dirX,dirY,dirZ.
`OrientedPoint3d(double x, double y, double z)`	Create a new OrientedPoint3d with x, y, and z coordinates and direction 0,0,0.
`OrientedPoint3d(double x, double y, double z, double[] orientation)`	Create a new OrientedPoint3d with x, y, and z coordinates and orientation specified using a double array of three elements (containing dirX,dirY,dirZ in that order).
`OrientedPoint3d(double x, double y, double z, double dirX, double dirY, double dirZ)`	Create a new OrientedPoint3d with x, y, and z coordinates and orientation dirX,dirY,dirZ.
`OrientedPoint3d(Point3d point, double dirX, double dirY, double dirZ)`	Create a new OrientedPoint3d from another point and specified orientation dirX,dirY,dirZ.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`OrientedPoint3d`	`abs()`	Return a new Point with absolute coordinate values.
`boolean`	`epsilonEquals(OrientedPoint3d other, double epsilonCoordinate, double epsilonRotation)`	Compare this Oriented with another Oriented with specified tolerances in the coordinates and the angles.
`boolean`	`equals(Object obj)`
`double`	`getDirX()`	Return the rotation around the x-axis in radians.
`double`	`getDirY()`	Return the rotation around the y-axis in radians.
`double`	`getDirZ()`	Return the rotation around the z-axis in radians.
`Iterator<OrientedPoint3d>`	`getPoints()`	Retrieve, or generate all points that make up the object.
`int`	`hashCode()`
`OrientedPoint3d`	`interpolate(OrientedPoint3d otherPoint, double fraction)`	Interpolate towards another OrientedPoint3d with a fraction.
`OrientedPoint3d`	`neg()`	Return a new Point with negated coordinate values.
`OrientedPoint3d`	`normalize()`	Return a new Point with a distance of 1 to the origin.
`OrientedPoint3d`	`rotate(double rotateZ)`	Return a new OrientedPoint3d with an in-place rotation around the z-axis by the provided delta.
`OrientedPoint3d`	`rotate(double rotateX, double rotateY, double rotateZ)`	Return a new OrientedPoint3d point with an in-place rotation by the provided rotateX, rotateY, and rotateZ.
`OrientedPoint3d`	`scale(double factor)`	Return a new Point with the coordinates of this point scaled by the provided factor.
`String`	`toString()`	Produce a string describing the Drawable using default conversion for the (double) coordinate values.
`String`	`toString(String doubleFormat, boolean doNotIncludeClassName)`	Produce a String describing the Drawable.
`OrientedPoint3d`	`translate(double dx, double dy)`	Return a new Point with a translation by the provided dx and dy.
`OrientedPoint3d`	`translate(double dx, double dy, double dz)`	Return a new Point3d with a translation by the provided dx, dy and dz.

Methods inherited from class org.djutils.draw.point.Point3d
closestPointOnLine, closestPointOnLine, closestPointOnLine, closestPointOnSegment, closestPointOnSegment, distance, distanceSquared, epsilonEquals, fractionalPositionOnLine, getBounds, getX, getY, getZ, horizontalDirection, horizontalDirection, horizontalDistance, horizontalDistanceSquared, interpolate, project, size, verticalDirection

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.djutils.draw.Drawable
getPointList, toString, toString

Methods inherited from interface org.djutils.draw.Drawable3d
getDimensions

- Field Detail
  - dirX
```
public final double dirX
```
    The direction as rotation around the x-axis.
  - dirY
```
public final double dirY
```
    The direction as rotation around the y-axis.
  - dirZ
```
public final double dirZ
```
    The direction as rotation around the z-axis.
- Constructor Detail
  - OrientedPoint3d
```
public OrientedPoint3d(double x,
                       double y,
                       double z)
                throws IllegalArgumentException
```
    Create a new OrientedPoint3d with x, y, and z coordinates and direction 0,0,0.
    
    Parameters:
    
    x - double; the x coordinate
    
    y - double; the y coordinate
    
    z - double; the z coordinate
    
    Throws:
    
    IllegalArgumentException - when x, y, or z is NaN
  - OrientedPoint3d
```
public OrientedPoint3d(double x,
                       double y,
                       double z,
                       double dirX,
                       double dirY,
                       double dirZ)
                throws IllegalArgumentException
```
    Create a new OrientedPoint3d with x, y, and z coordinates and orientation dirX,dirY,dirZ.
    
    Parameters:
    
    x - double; the x coordinate
    
    y - double; the y coordinate
    
    z - double; the z coordinate
    
    dirX - double; the direction as rotation around the x-axis with the point as the center
    
    dirY - double; the direction as rotation around the y-axis with the point as the center
    
    dirZ - double; the direction as rotation around the z-axis with the point as the center
    
    Throws:
    
    IllegalArgumentException - when x, y, z, dirX, dirY, or dirZ is NaN
  - OrientedPoint3d
```
public OrientedPoint3d(double[] xyz)
                throws NullPointerException,
                       IllegalArgumentException
```
    Create a new OrientedPoint3d with x, y, and z coordinates and direction 0,0,0.
    
    Parameters:
    
    xyz - double[]; the x, y and z coordinates
    
    Throws:
    
    NullPointerException - when xyx is null
    
    IllegalArgumentException - when the length of the xyx array is not 3, or contains a NaN value
  - OrientedPoint3d
```
public OrientedPoint3d(double[] xyz,
                       double dirX,
                       double dirY,
                       double dirZ)
                throws NullPointerException,
                       IllegalArgumentException
```
    Create a new OrientedPoint3d with x, y, and z coordinates, stored with double precision, and orientation dirX,dirY,dirZ.
    
    Parameters:
    
    xyz - double[]; the x, y and z coordinates
    
    dirX - double; the direction as rotation around the x-axis with the point as the center
    
    dirY - double; the direction as rotation around the y-axis with the point as the center
    
    dirZ - double; the direction as rotation around the z-axis with the point as the center
    
    Throws:
    
    NullPointerException - when xyx is null
    
    IllegalArgumentException - when the length of the xyx array is not 3, or contains a NaN value, or dirX, dirY, or dirZ is NaN
  - OrientedPoint3d
```
public OrientedPoint3d(Point3d point,
                       double dirX,
                       double dirY,
                       double dirZ)
                throws IllegalArgumentException
```
    Create a new OrientedPoint3d from another point and specified orientation dirX,dirY,dirZ.
    
    Parameters:
    
    point - Point3d; the point from which this OrientedPoint3d will be instantiated
    
    dirX - double; the direction as rotation around the x-axis with the point as the center
    
    dirY - double; the direction as rotation around the y-axis with the point as the center
    
    dirZ - double; the direction as rotation around the z-axis with the point as the center
    
    Throws:
    
    IllegalArgumentException - when dirX, dirY, or dirZ is NaN
  - OrientedPoint3d
```
public OrientedPoint3d(double x,
                       double y,
                       double z,
                       double[] orientation)
                throws NullPointerException,
                       IllegalArgumentException
```
    Create a new OrientedPoint3d with x, y, and z coordinates and orientation specified using a double array of three elements (containing dirX,dirY,dirZ in that order).
    
    Parameters:
    
    x - double; the x coordinate
    
    y - double; the y coordinate
    
    z - double; the z coordinate
    
    orientation - double[]; the three orientation values as rotations around the x,y,z-axes in a double array containing dirX,dirY,dirZ in that order
    
    Throws:
    
    NullPointerException - when rotation is null
    
    IllegalArgumentException - when the length of the direction array is not 3
  - OrientedPoint3d
```
public OrientedPoint3d(double[] xyz,
                       double[] orientation)
                throws NullPointerException,
                       IllegalArgumentException
```
    Create a new OrientedPoint3d with x, y, and z coordinates packed in a double array and orientation specified using a double array of three elements (containing dirX,dirY,dirZ in that order).
    
    Parameters:
    
    xyz - double[]; the x, y and z coordinates in that order
    
    orientation - double[]; the three orientation values as rotations around the x,y,z-axes in a double array containing dirX,dirY,dirZ in that order
    
    Throws:
    
    NullPointerException - when xyx or direction is null
    
    IllegalArgumentException - when the length of the xyx array or the length of the orientation array is not 3
- Method Detail
  - translate
```
public OrientedPoint3d translate(double dx,
                                 double dy)
                          throws IllegalArgumentException
```
    Return a new Point with a translation by the provided dx and dy.
    
    Overrides:
    
    translate in class Point3d
    
    Parameters:
    
    dx - double; the horizontal translation
    
    dy - double; the vertical translation
    
    Returns:
    
    Point3D; a new point with the translated coordinates
    
    Throws:
    
    IllegalArgumentException - when dx, or dy is NaN
  - translate
```
public OrientedPoint3d translate(double dx,
                                 double dy,
                                 double dz)
                          throws IllegalArgumentException
```
    Return a new Point3d with a translation by the provided dx, dy and dz.
    
    Overrides:
    
    translate in class Point3d
    
    Parameters:
    
    dx - double; the x translation
    
    dy - double; the y translation
    
    dz - double; the z translation
    
    Returns:
    
    Point3d; a new point with the translated coordinates
    
    Throws:
    
    IllegalArgumentException - when dx, dy, or dz is NaN
  - scale
```
public OrientedPoint3d scale(double factor)
                      throws IllegalArgumentException
```
    Return a new Point with the coordinates of this point scaled by the provided factor.
    
    Specified by:
    
    scale in interface Point<Point3d>
    
    Overrides:
    
    scale in class Point3d
    
    Parameters:
    
    factor - double; the scale factor
    
    Returns:
    
    Point; a new point with the coordinates of this point scaled by the provided factor
    
    Throws:
    
    IllegalArgumentException - when factor is NaN
  - neg
```
public OrientedPoint3d neg()
```
    Return a new Point with negated coordinate values.
    
    Specified by:
    
    neg in interface Oriented<OrientedPoint3d>
    
    Specified by:
    
    neg in interface Point<Point3d>
    
    Overrides:
    
    neg in class Point3d
    
    Returns:
    
    Point; a new point with negated coordinate values
  - abs
```
public OrientedPoint3d abs()
```
    Return a new Point with absolute coordinate values.
    
    Specified by:
    
    abs in interface Point<Point3d>
    
    Overrides:
    
    abs in class Point3d
    
    Returns:
    
    Point; a new point with absolute coordinate values
  - normalize
```
public OrientedPoint3d normalize()
                          throws DrawRuntimeException
```
    Return a new Point with a distance of 1 to the origin.
    
    Specified by:
    
    normalize in interface Point<Point3d>
    
    Overrides:
    
    normalize in class Point3d
    
    Returns:
    
    Point; the normalized point
    
    Throws:
    
    DrawRuntimeException - when point is the origin, and no length can be established for scaling
  - interpolate
```
public OrientedPoint3d interpolate(OrientedPoint3d otherPoint,
                                   double fraction)
                            throws NullPointerException,
                                   IllegalArgumentException
```
    Interpolate towards another OrientedPoint3d with a fraction. It is allowed for fraction to be less than zero or larger than 1. In that case the interpolation turns into an extrapolation. DirX, dirY and dirZ are interpolated/extrapolated using the interpolateShortest method.
    
    Parameters:
    
    otherPoint - OrientedPoint3d; the other point
    
    fraction - double; the factor for interpolation towards the other point. When <code>fraction</code> is between 0 and 1, it is an interpolation, otherwise an extrapolation. If fraction is 0; this Point is returned; if fraction is 1, the other point is returned
    
    Returns:
    
    OrientedPoint3d; a new OrientedPoint3d at the requested fraction
    
    Throws:
    
    NullPointerException - when otherPoint is null
    
    IllegalArgumentException - when fraction is NaN
  - rotate
```
public OrientedPoint3d rotate(double rotateZ)
                       throws IllegalArgumentException
```
    Return a new OrientedPoint3d with an in-place rotation around the z-axis by the provided delta. The resulting rotation will be normalized between -π and π.
    
    Parameters:
    
    rotateZ - double; the rotation around the z-axis
    
    Returns:
    
    OrientedPoint3d; a new point with the same coordinates, dirX and dirY and modified dirZ
    
    Throws:
    
    IllegalArgumentException - when rotateZ is NaN
  - rotate
```
public OrientedPoint3d rotate(double rotateX,
                              double rotateY,
                              double rotateZ)
                       throws IllegalArgumentException
```
    Return a new OrientedPoint3d point with an in-place rotation by the provided rotateX, rotateY, and rotateZ. The resulting rotations will be normalized between -π and π.
    
    Parameters:
    
    rotateX - double; the rotation around the x-axis
    
    rotateY - double; the rotation around the y-axis
    
    rotateZ - double; the rotation around the z-axis
    
    Returns:
    
    OrientedPoint3d; a new point with the same coordinates and applied rotations
    
    Throws:
    
    IllegalArgumentException - when any of the rotations is NaN
  - getDirX
```
public double getDirX()
```
    Return the rotation around the x-axis in radians.
    
    Specified by:
    
    getDirX in interface Oriented3d<OrientedPoint3d>
    
    Returns:
    
    double; the rotation around the x-axis in radians
  - getDirY
```
public double getDirY()
```
    Return the rotation around the y-axis in radians.
    
    Specified by:
    
    getDirY in interface Oriented3d<OrientedPoint3d>
    
    Returns:
    
    double; the rotation around the y-axis in radians
  - getDirZ
```
public double getDirZ()
```
    Return the rotation around the z-axis in radians.
    
    Specified by:
    
    getDirZ in interface Oriented<OrientedPoint3d>
    
    Returns:
    
    double; the rotation around the z-axis in radians
  - getPoints
```
public Iterator<OrientedPoint3d> getPoints()
```
    Retrieve, or generate all points that make up the object.
    
    Specified by:
    
    getPoints in interface Drawable<Point3d>
    
    Overrides:
    
    getPoints in class Point3d
    
    Returns:
    
    Iterable<Point2d>; an iterator that generates all points that make up the object
  - toString
```
public String toString()
```
    Produce a string describing the Drawable using default conversion for the (double) coordinate values. Regrettably, it is not allowed to provide a default implementation here.
    
    Specified by:
    
    toString in interface Drawable<Point3d>
    
    Overrides:
    
    toString in class Point3d
    
    Returns:
    
    String; a string describing the Drawable
  - toString
```
public String toString(String doubleFormat,
                       boolean doNotIncludeClassName)
```
    Produce a String describing the Drawable.
    
    Specified by:
    
    toString in interface Drawable<Point3d>
    
    Overrides:
    
    toString in class Point3d
    
    Parameters:
    
    doubleFormat - String; a format string (something like "%6.3f") which will be used to render every coordinate value)
    
    doNotIncludeClassName - boolean; if true; the output of toString is not prefixed by the class name. This is useful for concatenating the textual representation of lots of Drawables (e.g. an array, or a List).
    
    Returns:
    
    String; textual representation of the Drawable
  - epsilonEquals
```
public boolean epsilonEquals(OrientedPoint3d other,
                             double epsilonCoordinate,
                             double epsilonRotation)
                      throws NullPointerException,
                             IllegalArgumentException
```
    Compare this Oriented with another Oriented with specified tolerances in the coordinates and the angles.
    
    Specified by:
    
    epsilonEquals in interface Oriented<OrientedPoint3d>
    
    Parameters:
    
    other - O; the point to compare with
    
    epsilonCoordinate - double; the upper bound of difference for one of the coordinates; use Double.POSITIVE_INFINITY if you do not want to check the coordinates
    
    epsilonRotation - double; the upper bound of difference for the direction(s); use Double.POSITIVE_INFINITY if you do not want to check the angles
    
    Returns:
    
    boolean; true if x, y, and z are less than epsilonCoordinate apart, and rotX, rotY and rotZ are less than epsilonRotation apart, otherwise false
    
    Throws:
    
    NullPointerException - when other is null
    
    IllegalArgumentException - epsilonCoordinate or epsilonRotation is NaN or negative
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class Point3d
  - equals
```
public boolean equals(Object obj)
```
    Overrides:
    
    equals in class Point3d

Class OrientedPoint3d

Field Summary

Fields inherited from class org.djutils.draw.point.Point3d

Constructor Summary

Method Summary

Methods inherited from class org.djutils.draw.point.Point3d

Methods inherited from class java.lang.Object

Methods inherited from interface org.djutils.draw.Drawable

Methods inherited from interface org.djutils.draw.Drawable3d

Field Detail

dirX

dirY

dirZ

Constructor Detail

OrientedPoint3d

OrientedPoint3d

OrientedPoint3d

OrientedPoint3d

OrientedPoint3d

OrientedPoint3d

OrientedPoint3d

Method Detail

translate

translate

scale

neg

abs

normalize

interpolate

rotate

rotate

getDirX

getDirY

getDirZ

getPoints

toString

toString

epsilonEquals

hashCode

equals